Skill evaluation based on state-transition model for human adaptive mechatronics (HAM)

In this paper, quantification of a skill-level, which is a significant item to achieve the human adaptive mechatronics (HAM), is considered. One method to quantify the skill-level of operator's manipulation of a robot is proposed by using a discrete state-transition model. In order to obtain experimental data for evaluation of the proposed method, a data acquisition system for a human-machine system is devised. The system consists of the telemanipulation of a legged robot, the telecontrol navigator, an eye-gaze measurement system, a recording program of a mouse action and a 3D-position sensor. From analysis using the experimental data, it could be confirmed that checking of a combination of different type transition states has the possibility to quantify the operator's skill and to assist his manipulation.